Arc welding method

Abstract

An arc welding method of the present disclosure includes a teaching program creation step, a position detection step, and a welding step. In the position detection step subsequent to the teaching program creation step, a position detection program is executed with use of a welding torch having a servomotor. In the welding step subsequent to the position detection step, a welding program is executed with use of the welding torch. A gain of the servomotor that is used for position detection in the position detection step is higher than a gain of the servomotor that is used for welding in the welding step.

1 . An arc welding method comprising:
 a teaching program creation step of creating a teaching program including a position detection program and a welding program;   a position detection step of executing the position detection program with use of a welding torch having a servomotor subsequently to the teaching program creation step; and   a welding step of executing the welding program with use of the welding torch subsequently to the position detection step,   wherein a gain of the servomotor that is used for position detection in the position detection step is higher than a gain of the servomotor that is used for welding in the welding step.   
     
     
         2 . The arc welding method according to  claim 1 , wherein:
 any one of a position adjustment gain, a velocity adjustment gain, and an acceleration adjustment gain of the gain in the position detection step is higher than a corresponding one of a position adjustment gain, a velocity adjustment gain, and an acceleration adjustment gain of the gain in the welding step; and   other two of the position adjustment gain, the velocity adjustment gain, and the acceleration adjustment gain of the gain in the position detection step are respectively equal to other two of the position adjustment gain, the velocity adjustment gain, and the acceleration adjustment gain of the gain in the welding step.   
     
     
         3 . The arc welding method according to  claim 1 , wherein:
 any two of a position adjustment gain, a velocity adjustment gain, and an acceleration adjustment gain of the gain in the position detection step are respectively higher than corresponding two of a position adjustment gain, a velocity adjustment gain, and an acceleration adjustment gain of the gain in the welding step; and   another one of the position adjustment gain, the velocity adjustment gain, and the acceleration adjustment gain of the gain in the position detection step is equal to another one of the position adjustment gain, the velocity adjustment gain, and the acceleration adjustment gain of the gain in the welding step.   
     
     
         4 . The arc welding method according to  claim 1 , wherein a position adjustment gain, a velocity adjustment gain, and an acceleration adjustment gain of the gain in the position detection step are all respectively higher than a position adjustment gain, a velocity adjustment gain, and an acceleration adjustment gain of the gain in the welding step.